Robot 2D Localization

Source on GitHub

Demonstrates solving a 2D localization problem with SymForce. The goal is for a robot in a 2D plane to compute its trajectory given distance measurements from wheel odometry and relative bearing angle measurements to known landmarks in the environment.


Sets up and solves the optimization problem step-by-step. See the tutorial on the SymForce homepage for a detailed walkthrough.

Contains helper functions for visualizing the optimization problem